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LocalWaypointDriver

Description

The function of the Local Waypoint Driver is to move the platform given a single target waypoint and desired travel speed. A single waypoint is provided via the Set Local Waypoint message. The waypoint remains unchanged until a new Set Local Waypoint message is received. A waypoint consists of the desired position and orientation of the platform. Another commanded input consists of the desired travel speed. The desired travel speed remains unchanged unless a new Set Travel Speed Message is received. The travel speed may then be changed at any time during waypoint navigation. The travel speed is reset to zero for all transitions from the Ready State.

Messages

The LocalWaypointDriver service uses the following messages.

Internal Events

  • None